US20120319896A1 - Geolocation system and method hybridizing a satellite navigation system and a data collection system - Google Patents

Geolocation system and method hybridizing a satellite navigation system and a data collection system Download PDF

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Publication number
US20120319896A1
US20120319896A1 US13/515,868 US201013515868A US2012319896A1 US 20120319896 A1 US20120319896 A1 US 20120319896A1 US 201013515868 A US201013515868 A US 201013515868A US 2012319896 A1 US2012319896 A1 US 2012319896A1
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United States
Prior art keywords
geolocation
data collection
equipment
transmission
messages
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Abandoned
Application number
US13/515,868
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English (en)
Inventor
Thibaud Calmettes
Michel Monnerat
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Thales SA
Original Assignee
Thales SA
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Publication date
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Assigned to THALES reassignment THALES ASSIGNMENT OF ASSIGNORS INTEREST (SEE DOCUMENT FOR DETAILS). Assignors: Calmettes, Thibaud, MONNERAT, MICHEL
Publication of US20120319896A1 publication Critical patent/US20120319896A1/en
Abandoned legal-status Critical Current

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/01—Satellite radio beacon positioning systems transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/03—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers
    • G01S19/09—Cooperating elements; Interaction or communication between different cooperating elements or between cooperating elements and receivers providing processing capability normally carried out by the receiver
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S19/00—Satellite radio beacon positioning systems; Determining position, velocity or attitude using signals transmitted by such systems
    • G01S19/38—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system
    • G01S19/39—Determining a navigation solution using signals transmitted by a satellite radio beacon positioning system the satellite radio beacon positioning system transmitting time-stamped messages, e.g. GPS [Global Positioning System], GLONASS [Global Orbiting Navigation Satellite System] or GALILEO
    • G01S19/42—Determining position
    • G01S19/45—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement
    • G01S19/46—Determining position by combining measurements of signals from the satellite radio beacon positioning system with a supplementary measurement the supplementary measurement being of a radio-wave signal type
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S5/00—Position-fixing by co-ordinating two or more direction or position line determinations; Position-fixing by co-ordinating two or more distance determinations
    • G01S5/0009—Transmission of position information to remote stations
    • G01S5/0018—Transmission from mobile station to base station
    • G01S5/0036—Transmission from mobile station to base station of measured values, i.e. measurement on mobile and position calculation on base station

Definitions

  • the present invention firstly concerns a geolocation system employing hybridization of a satellite navigation system and a data collection system.
  • the present invention provides for combining some of the signals from a satellite navigation system with measurement elements effected by a data collection system with the aim of determining the precise geographical location of an object, quickly and economically from an energy point of view.
  • One objective of the invention is to maximize the autonomy of the claimed geolocation system by minimizing acquisition and processing operations effected by means situated on the object to be located. According to the invention, as many operations as possible are effected by remote elements belonging to the data collection system.
  • FIG. 1 The general operating principle of a data collection system is represented in FIG. 1 .
  • data collection devices equip an animal population D 1 , meteorological buoys D 2 or a fleet of fishing boats D 3 , for example.
  • the measurements effected by these devices are encapsulated in messages sent via appropriate transmitter devices to satellites S.
  • Said satellites S relay these messages, possibly modified and possibly accompanied by measurements of the received signal, to receiver stations R on the ground.
  • These forward the messages to ground stations G that have appropriate processing means, for example enabling approximate location of the objects under study or surveillance.
  • the ground stations G can send information messages to a user network U.
  • the geolocation of an object by a data collection system alone is insufficient because it is too inaccurate.
  • the accuracy of such systems is only 300 to 500 meters, because of their intrinsic defects, and notably insufficiently accurate internal clocks and the small number of measurements.
  • GNSS Global Navigation Satellite System
  • GPS Global Positioning System
  • Glonass Glonass system
  • Galileo Galileo System
  • geolocation by a satellite navigation system implies decoding signals coming from said satellite navigation system, such as the GPS.
  • the decoding of a complete GPS signal can take approximately 30 seconds to one minute for the calculation of a first point.
  • the GPS beacon used to acquire and decode the GPS signal, and installed on the object to be geolocated is powered up, which affects the autonomy of said GPS beacon.
  • beacons for example GPS signal receivers
  • This solution has two serious disadvantages, however: firstly, it implies a high uplink data rate because all of the GPS signal is relayed; secondly, according to this solution, the object to be tracked or under surveillance, and in any event to be geolocated, does not know its position.
  • a first objective of the present invention is to improve the performance of geolocation systems, notably in terms of sensitivity.
  • Another objective of the invention is to enable simplification of the receiving means equipping the objects to be geolocated, notably with a view to minimizing their energy consumption and, consequently, to increasing their autonomy.
  • the present invention does not imply any significant increase in the data rate of the uplink to the satellites S.
  • the invention consists in a method of geolocation of an equipment, comprising the following steps:
  • Said measurements on the transmission of the messages preferably contain a measurement of the date and time of reception by relay means remote from the equipment of the messages transmitted by the transmission means of said data collection system.
  • the method of the invention may advantageously comprise the combination of said measurement of the date and time of reception and a date and time of transmission of said message by the transmission means in such a manner as to calculate the propagation distance between the equipment and the relay means of the data collection system.
  • the date and time of transmission of said message by the transmission means are determined by a resolution of ambiguity based on the possible propagation distances between the equipment and the relay means of the data collection system, given the position of said relay means at the moment of reception of said message.
  • the determination of said transmission date and time may advantageously utilize an estimate of the time elapsed between the production of the code phase measurements and the transmission of the message via the data collection system to reduce the ambiguity resolution domain.
  • Said measurements on the transmission of the messages advantageously contain a Doppler measurement, i.e. a measurement of the difference between the frequency at which the messages are transmitted by the transmission means and the frequency at which said messages are received by the relay means of the system for collecting those same messages.
  • a Doppler measurement i.e. a measurement of the difference between the frequency at which the messages are transmitted by the transmission means and the frequency at which said messages are received by the relay means of the system for collecting those same messages.
  • the method of the invention may advantageously include a step of determination of the absolute position of the satellite or satellites of the satellite navigation system originating said positioning information, comprising the association of said code phase measurements with an identifier characteristic of the satellite that sent said positioning information concerned, said identifier enabling determination of the absolute position of the satellite or satellites of the satellite navigation system by consultation of the ephemerides relating to the satellite navigation system concerned.
  • the method of the invention may advantageously include a step of determination of the absolute position of the satellite or satellites of the satellite navigation system originating said positioning information, comprising the resolution of the position of one or more satellites by comparison of a set of possible positions determined as a function of the ephemerides of the satellite navigation system concerned with geolocation information specific to said data collection system.
  • a system for geolocation of an equipment may comprise means situated on said equipment for receiving positioning information from a satellite navigation system, said positioning information containing at least one code phase measurement, and transmission means, situated on said equipment and belonging to a data collection system, for sending messages containing said code phase measurements and measurements on the transmission of the messages effected by measurement means belonging to said data collection system, and be adapted to implement the method according to the invention as defined above.
  • Such a geolocation system may advantageously comprise relay means and processing means remote from said equipment and belonging to said data collection system, respectively comprising a network of satellites and a network of ground stations.
  • the equipment advantageously supplies current to said positioning information receiving means only during a time period necessary and sufficient to effect said code phase measurements on the signals coming from the satellite navigation system.
  • the system according to the invention may advantageously return to the equipment a message including its geolocation.
  • system according to the invention broadcasts continuously to a network of users the absolute time provided by the satellite navigation system.
  • FIG. 1 represents the operating principle of a data collection system.
  • FIG. 1 is a diagram used to describe a prior art data collection system. This diagram may also serve to describe the invention.
  • known geolocation systems enable relatively accurate location of any object situated on the surface of the Earth equipped with a beacon able to decode the signals transmitted by satellites of the satellite navigation system concerned.
  • these systems have the main drawbacks of necessitating a long decoding and processing time by the beacon onboard the subject to be located, and having a low sensitivity.
  • the basic principle of the invention consists in hybridizing a data collection system and a satellite navigation system.
  • the objects D 1 , D 2 , D 3 to be located include not only beacons equipped with means for effecting measurements, belonging to the data collection system and beacons adapted to receive signals from satellites belonging to a satellite navigation system, but also and above all the means of the data collection system and the means for receiving signals from satellites belonging to a satellite navigation system are adapted to cooperate with a view to providing an accurate geolocation of said objects quickly, in particular where the calculation of the first point is concerned.
  • the system of the invention is designed so that as little processing as possible is effected by the means equipping the objects to be located.
  • the means for receiving the signals from the satellite navigation system do not need to decode in their entirety signals, referred to in the remainder of the present description as positioning information, coming from the satellite navigation system.
  • Most satellite navigation systems namely the GPS and the Galileo system, transmit signals including a field usually called the code phase, corresponding to an extremely regular clock pulse, on which the positioning signal is sent. It is not a date and time, or a “GPS time”, but only a pulse.
  • the GPS and the Galileo system transmit signals including a code phase type field or its equivalent.
  • the means for receiving positioning information may acquire only the code phase included in said positioning information.
  • the system of the invention then functions in “masked time”, i.e. it is not the means for receiving the positioning information that participate, but means of the data collection system, and in particular means hosted by one or more ground stations G.
  • Knowing the code phase positioning consists only in resolving the ambiguity of this measurement, the magnitude of resolving the ambiguity depending on the length of the code on which the phase measurement is effected. Depending on the satellite positioning system used, this ambiguity may be 1 millisecond, 4 milliseconds or 10 milliseconds.
  • said means hosted by one or more ground stations G combine the code phase read in the positioning information with data coming from the data collection system.
  • These means thus constitute means for combining said code phases and information corresponding to portions of messages containing measurements effected for the data collection system via beacons including measuring instruments and means for transmitting messages containing the measurements to satellites S.
  • these satellites S establish the link between the objects to be located, tracked or studied and a network of ground stations by relaying the messages containing the measurements to said ground stations G via receiving means R.
  • the system of the invention has access to the code phase of the positioning information and messages containing the measurements transmitted by the means of the data collection system equipping the object to be geolocated.
  • the code phase is “tagged” when it is forwarded to the collection system, i.e. if it includes an identifier characteristic of the satellite transmitting the positioning signal, it suffices to look up this satellite in the ephemerides relating to the satellite navigation system concerned to determine its position as a function of time.
  • a second possibility consists in “resolving” the position of the satellites by a process of elimination, on the basis of geolocation data intrinsic to the data collection system. By cross referencing this data with the data from the ephemerides relating to the satellite navigation system concerned, the position of the satellites from which the positioning information was received is determined.
  • the object D 1 , D 2 , D 3 to be located including means for effecting measurements and means for transmitting messages containing the measurements to satellites S is configured so that the date and time of the measurement, corresponding to a date and time determined as a function of an internal clock situated on the object to be located, is included in the message containing the measurements.
  • the satellites S knowing the universal time, for example the “GPS time”, it is then possible to work back to the universal time as seen by the object D 1 , D 2 , D 3 to be located; it suffices to determine the propagation time of the messages containing the measurements from the object D 1 , D 2 , D 3 to be located to the satellites S, with an accuracy better than the residual ambiguity of the code phase measurement.
  • the messages containing the measurements sent to the satellites S do not include a date and time of the measurements, it is possible to resolve the universal time seen by the object D 1 , D 2 , D 3 to be located by analyzing the possibilities, code phase by code phase, in a time interval typically of 10 seconds preceding the date and time of reception of the message containing the measurements by postulating that the measuring means of the data collection system and the associated transmission means equipping the object D 1 , D 2 , D 3 to be located have not taken more than 10 seconds to send a message containing the measurements and the code phase starting from the time at which the means receiving positioning information for the object D 1 , D 2 , D 3 to be located to have received a positioning signal for which they have acquired said code phase.
  • the invention may comprise a step of Doppler measurement of the frequency shift between the transmission of the message containing the measurements and its reception by the satellite S. This measurement enables the object to be geolocated to be situated on a spherical hyperboloid centered on the satellite S and the characteristic of which is given by the Doppler measurement.
  • the main advantage of the invention is to enable accurate geolocation of objects by coupling a data collection system with a satellite navigation system.
  • the system of the invention necessitates a minimum processing time by the means equipping said objects, given the processing effected in “masked time” by remote equipment, typically ground stations of the data collection system.
  • the system of the invention notably necessitates only acquisition of the code phase of the positioning information coming from the satellites of the satellite navigation system. Acquisition of the code phase classically necessitates only around one millisecond of processing time.
  • the complex processing and notably the determination of the universal time as seen by the objects to be geolocated are effected by remote means such as the ground stations of the data collection system.
  • system of the invention may optionally include means for sending their position to the objects to be geolocated once it has been calculated.
  • the system of the invention may also include means for broadcasting data to a network of users, for example the universal time such as the GPS time.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Position Fixing By Use Of Radio Waves (AREA)
US13/515,868 2009-12-15 2010-12-01 Geolocation system and method hybridizing a satellite navigation system and a data collection system Abandoned US20120319896A1 (en)

Applications Claiming Priority (3)

Application Number Priority Date Filing Date Title
FR0906061A FR2953941B1 (fr) 2009-12-15 2009-12-15 Systeme et procede de geo-localisation par hybridation d'un systeme de navigation par satellite et d'un systeme de collecte de donnees
FR0906061 2009-12-15
PCT/EP2010/068610 WO2011073031A1 (fr) 2009-12-15 2010-12-01 Systeme et procede de geo-localisation par hybridation d'un systeme de navigation par satellite et d'un systeme de collecte de donnees

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US20120319896A1 true US20120319896A1 (en) 2012-12-20

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US13/515,868 Abandoned US20120319896A1 (en) 2009-12-15 2010-12-01 Geolocation system and method hybridizing a satellite navigation system and a data collection system

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US (1) US20120319896A1 (fr)
EP (1) EP2513669A1 (fr)
CA (1) CA2784081A1 (fr)
FR (1) FR2953941B1 (fr)
WO (1) WO2011073031A1 (fr)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150168548A1 (en) * 2013-12-13 2015-06-18 Advanced Digital Broadcast S.A. Method and distributed system for flying objects tracking using consumer electronics devices

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20030067409A1 (en) * 2001-10-05 2003-04-10 Murphy Timothy A. Method and apparatus for providing an integrated communications, navigation and surveillance satellite system
US6560536B1 (en) * 1999-07-12 2003-05-06 Eagle-Eye, Inc. System and method for rapid telepositioning
US6593877B2 (en) * 2001-04-23 2003-07-15 Agence Spatiale Europeenne Method for determining the position of a transmitting beacon
US20090243922A1 (en) * 2008-03-20 2009-10-01 Brosius Iii John W System and method for using data phase to reduce position ambiguities

Family Cites Families (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6408178B1 (en) * 1999-03-29 2002-06-18 Ericsson Inc. Systems and methods for resolving GPS pseudo-range ambiguity
US6453237B1 (en) * 1999-04-23 2002-09-17 Global Locate, Inc. Method and apparatus for locating and providing services to mobile devices
US7855654B2 (en) * 2007-01-23 2010-12-21 Daniel A. Katz Location recording system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6560536B1 (en) * 1999-07-12 2003-05-06 Eagle-Eye, Inc. System and method for rapid telepositioning
US6593877B2 (en) * 2001-04-23 2003-07-15 Agence Spatiale Europeenne Method for determining the position of a transmitting beacon
US20030067409A1 (en) * 2001-10-05 2003-04-10 Murphy Timothy A. Method and apparatus for providing an integrated communications, navigation and surveillance satellite system
US20090243922A1 (en) * 2008-03-20 2009-10-01 Brosius Iii John W System and method for using data phase to reduce position ambiguities

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US20150168548A1 (en) * 2013-12-13 2015-06-18 Advanced Digital Broadcast S.A. Method and distributed system for flying objects tracking using consumer electronics devices

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Publication number Publication date
FR2953941B1 (fr) 2012-01-27
EP2513669A1 (fr) 2012-10-24
FR2953941A1 (fr) 2011-06-17
WO2011073031A1 (fr) 2011-06-23
CA2784081A1 (fr) 2011-06-23

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AS Assignment

Owner name: THALES, FRANCE

Free format text: ASSIGNMENT OF ASSIGNORS INTEREST;ASSIGNORS:CALMETTES, THIBAUD;MONNERAT, MICHEL;REEL/FRAME:028602/0500

Effective date: 20120703

STCB Information on status: application discontinuation

Free format text: ABANDONED -- FAILURE TO RESPOND TO AN OFFICE ACTION